KR101383722B1 - Method for controlling two arms of robot - Google Patents

Method for controlling two arms of robot Download PDF

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Publication number
KR101383722B1
KR101383722B1 KR1020120147916A KR20120147916A KR101383722B1 KR 101383722 B1 KR101383722 B1 KR 101383722B1 KR 1020120147916 A KR1020120147916 A KR 1020120147916A KR 20120147916 A KR20120147916 A KR 20120147916A KR 101383722 B1 KR101383722 B1 KR 101383722B1
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South Korea
Prior art keywords
arm
arms
robot
step
joint
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KR1020120147916A
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Korean (ko)
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서정호
양우성
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현대자동차(주)
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/1607Calculation of inertia, jacobian matrixes and inverses
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/15Arrangements for force transmissions
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40Interfaces with the user related to strength training; Details thereof
    • A63B21/4001Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087Dual arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1682Dual arm manipulator; Coordination of several manipulators
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40305Exoskeleton, human robot interaction, extenders

Abstract

A grasping step of grasping the axial position difference between the end of one arm and the end of the other arm; Generating a virtual force at the end of the other arm from the identified position difference; And converting the generated virtual force into a driving torque of each joint of the other arm using the Jacobian matrix.

Description

Robotic Arm Control Method {METHOD FOR CONTROLLING TWO ARMS OF ROBOT}

The present invention relates to a method for controlling both arms of a robot that can easily level the two arms when lifting the wearable two-arm robot.

In the wearable strength support robot, a wearer wears a robot and lifts or moves an object in an industrial site.

In this case, when the wearable strength support robot lifts a heavy object with both arms according to the wearer's intention, the wearer's force is transmitted to the robot and the force transmitted through the robot is amplified to lift the heavy object.

The present invention relates to an algorithm for controlling both arms to move reliably at the same time when the upper limb of the wearable muscle strength support robot to both arms. This is especially effective if you are lifting heavy objects that need to be level.

When the conventional wearable strength support robot is working in both arms, both arms move simultaneously by reflecting the wearer's intention on each arm.

In the case of double-arm lifting work while keeping the weight level, the wearer has to keep moving each arm to keep the level to maintain the level, which causes a lot of fatigue to the wearer.

In addition, in the case of a heavy object, the balance of the robot can be very quickly distracted when the tilting to one side occurs, and in this case, the arms are synchronized so as not to be tilted to one side. .

Conventional KR 10-2008-0079590 A, "Friction Compensating Method, Friction Compensator and Motor Control Apparatus" is a system in which "a real position estimating unit 21 estimates a real position of a moving object corresponding to a position command signal to generate a real position signal, The integrator 24 integrates the velocity signal to generate a displacement signal from the position at which the moving object reverses the direction of motion and the absolute value calculator 25 The frictional characteristic estimator 26 obtains the rate of change with respect to the displacement of the frictional torque or the frictional torque, and when the rate of change with respect to time is obtained by multiplying the rate of change with respect to the displacement by the speed signal, Integrator 28 integrates the rate of change over this time to estimate the frictional force or friction torque. "

However, even with the above-described technology, there is no suggestion regarding a method of synchronizing both arms during double control. Therefore, a control method capable of controlling such a part was required.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

KR 10-2008-0079590 A

The present invention has been proposed to solve the above problems, and an object of the present invention is to provide a method for controlling both arms of a robot that can easily level the two arms when lifting the wearable two-arm robot.

Both arms control method of the robot according to the present invention for achieving the above object, grasping step of grasping the axial position difference between the end of one arm and the end of the other arm; Generating a virtual force at the end of the other arm from the identified position difference; And converting the generated virtual force into driving torque of each joint of the other arm using a Jacobian matrix.

The determining step may determine the position difference between the ends of the arms in the X-axis, Y-axis, Z-axis direction.

The generating step may generate a virtual reaction force through the virtual spring-damper model at the end of the other arm.

In the converting step, the generated virtual force may be converted into driving torque of each joint of the other arm through the Jacobian transpose matrix.

And applying the converted driving torque to the driving unit of each joint.

The generating step generates a virtual force at each of the ends of the one arm and the other arm from the position difference between the ends of both arms, the conversion step of the joints of the one arm and the other arm using the Jacobian matrix generated virtual force It can be converted into the driving torque of.

The determining step may determine the position of the end of both arms through the rotation angle of each joint and from this to determine the position difference between the ends of both arms.

According to the two-arm control method of the robot having the structure as described above, it is possible to easily level the two arms during the double-control of the wearable two-arm robot.

In addition, as the implementation of both arms simultaneously control algorithm of the wear robot for double-arm lifting work, it is possible to obtain the effect of minimizing fatigue and stability of the wearer who needs to double-arm lifting.

And it is a way to control the wearable robot to operate according to the wearer's intention according to the situation. Unlike the conventional control method of the wearable robot, the wearable robot can be controlled by reflecting the wearer's intention without installing any additional sensor. If not, both arms can be controlled simultaneously.

1 to 3 is a view showing a state of both arms of the robot for explaining a method for controlling both arms of the robot according to an embodiment of the present invention.
Figure 4 is a flow chart of both arms control method of the robot according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings looks at with respect to both arms control method of the robot according to an embodiment of the present invention.

1 to 3 is a view showing the state of both arms of the robot for explaining the two-arm control method of the robot according to an embodiment of the present invention, Figure 4 is a flow chart of the two-arm control method of the robot according to an embodiment of the present invention. .

Both arms control method of the robot of the present invention, grasping step (S100) for grasping the axial position difference between the end of one arm and the end of the other arm; Generating step (S200) of generating a virtual force at the end of the other arm from the identified position difference; And converting the generated virtual force into driving torque of each joint of the other arm using the Jacobian matrix (S300).

In the case of Figure 1 shows the distance (ΔX) between the X axis of the robot arms, Figure 2 shows the distance (△ Y) to the Y axis, Figure 3 shows the distance (△ Z) to the Z axis Indicates.

In the wearable robot having both arms, the robot of the present invention generates a case in which the other arm needs to be driven together when driving one arm. In this case, the two arms can be easily adjusted.

In the case of a wearable robot, the motor of each joint, which is the driving unit, is driven by grasping the movement of the wearer. In the case of the dual-weight control, in which a heavy object is held by both arms, the wearer needs a lot of power to adjust the balance of the arm. Also, fatigue builds up.

The heavier the object, the easier the robot's center is distracted if both arms are out of balance, resulting in a higher risk of safety accidents.

In order to prevent this, basically, when a distance difference between both arms is generated, it is intended to balance them by generating a reaction force on one side of the arm.

To this end, first, a step S100 of grasping the axial position difference between the end of one arm and the end of the other arm is performed.

As shown in the figure, both arms of the robot are basically provided with virtual force controllers at their ends.

This can be explained by the following formula.

Figure 112012105046609-pat00001

As in the above formula, the left arm of the robot is given a virtual spring and a damping model according to the rotation angle of the robot joint. This is to prevent sudden control of the robot and to generate reaction force using the spring. The motor receives a controlled input through such a spring-damper model to drive the joint.

At the end of the robot, a virtual spring-damper model is added. In other words, the movement at the end of the robot is calculated as a force, and this is converted into a torque at each joint using the transpose matrix of the Jacobian matrix.

Therefore, the robot has a joint-specific torque (

Figure 112012105046609-pat00002
) And the torque for gravity compensation calculated at the end and converted into joint units (
Figure 112012105046609-pat00003
Are controlled together.

The torque for synchronizing the left arm with the right arm is additionally given according to the displacement difference between the left arm and the right arm.

This is also a virtual spring-damper model, which is called a virtual chain. That is, the virtual chain of the spring-damper is set at the ends of the right arm and the left arm, and the left arm or the right arm is synchronized with the other side.

In the case of Equation 1, the left arm is synchronized with the right arm by the virtual chain.

Therefore, in the left arm, the torque of the salping joint + the torque due to the virtual force at the tip + the gravity compensation + the virtual torque according to the displacement difference with the right arm (

Figure 112012105046609-pat00004
) Is granted.

For this purpose, the displacement difference between the left and right arm ends is expressed as ΔXR, ΔYR, and ΔZR as orthogonal coordinates, and the virtual spring-damper model is given to the virtual reaction force according to the displacement difference in each axis. And by distributing the force of reaction force to each joint through Jacobian transpose matrix, torque for reaction force at each joint is given.

That is, the present invention performs the step (S100) of grasping each axial position difference between the end of one arm and the end of the other arm, and generating a virtual force at the end of the other arm from the identified position difference (S200), and then converting the generated virtual force into a driving torque of each joint of the other arm using the Jacobian matrix (S300).

In addition, an application step (S400) of applying the converted driving torque to the driving unit of each joint is performed.

On the other hand, the grasping step (S100) can determine the position of the ends of both arms through the rotation angle of each joint, and can be determined by kinematically solve the position difference between the ends of both arms from this.

In addition, the determining step (S100) is to identify the position difference between the ends of the arms in the X-axis, Y-axis, Z-axis direction to generate a virtual reaction force in each axis, the generation step (S200) at the end of the other arm Generate virtual reaction force through virtual spring-damper model.

In addition, the conversion step (S300) is to add the generated virtual force to the driving torque of each joint of the other arm through the Jacobian transpose matrix.

On the other hand, the following equation represents the case of tuning the right arm to the left arm.

Figure 112012105046609-pat00005

As can be seen from the above equation, the right arm is also basically subjected to torque according to the spring-damper model at each joint, and the force according to the spring-damper model at the right arm end is added to the torque at the joint to add The right arm is driven to reflect the intention.

Gravity compensation consists of torque in the joint, and in addition, the relative displacement with the left arm is substituted into the hypothetical spring-damper model to calculate the required reaction force, which is converted into the torque of the right arm joint to drive the joint.

In addition, the generating step (S200) generates a virtual force at each of the ends of one arm and the other arm from the position difference between the ends of both arms, the conversion step (S300) using the Jacobian matrix generated virtual force It can also be converted into the driving torque of each joint of one arm and the other arm. In other words, in this case, the left arm and the right arm are synchronized with each other, and the above two expressions are used simultaneously.

According to the two-arm control method of the robot having the structure as described above, it is possible to easily level the two arms during the double-control of the wearable two-arm robot.

In addition, as the implementation of both arms simultaneously control algorithm of the wear robot for double-arm lifting work, it is possible to obtain the effect of minimizing fatigue and stability of the wearer who needs to double-arm lifting.

And it is a way to control the wearable robot to operate according to the wearer's intention according to the situation. Unlike the conventional control method of the wearable robot, the wearable robot can be controlled by reflecting the wearer's intention without installing any additional sensor. If not, both arms can be controlled simultaneously.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

S100: Identifying step S200: Generating step
S300: Conversion step S400: Authorization step

Claims (7)

  1. Grasping step (S100) of grasping the axial position difference between the end of one arm and the end of the other arm;
    Generating step (S200) of generating a virtual force at the end of the other arm from the identified position difference; And
    And converting the generated virtual force into driving torque of each joint of the other arm using a Jacobian matrix (S300).
    The determining step (S100) is a robot both arms control method characterized in that to determine the position difference between the ends of both arms in the X-axis, Y-axis, Z-axis direction.
  2. delete
  3. The method according to claim 1,
    The generating step (S200) of the two arms control method of the robot, characterized in that for generating a virtual reaction force through the virtual spring-damper model at the end of the other arm.
  4. The method according to claim 1,
    The converting step (S300) is a control method for both arms of a robot, characterized in that the generated virtual force is converted to the driving torque of each joint of the other arm through the Jacobian transpose matrix.
  5. The method according to claim 1,
    And an applying step (S400) of applying the converted driving torque to the driving part of each joint.
  6. The method according to claim 1,
    The generating step (S200) generates a virtual force at each of the ends of one arm and the other arm from the position difference between the ends of both arms, the conversion step (S300) using the Jacobian matrix generated one side arm And controlling both arms of the robot to the driving torque of each joint of the other arm.
  7. The method according to claim 1,
    The grasping step (S100) is to determine the position of the ends of both arms through the rotation angle of each joint, and the two arms control method of the robot, characterized in that to determine the position difference between the ends of both arms.
KR1020120147916A 2012-12-17 2012-12-17 Method for controlling two arms of robot KR101383722B1 (en)

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